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Abstract Locomotor evolution in synapsids involved numerous functional shifts associated with the transition from sprawled to erect limb postures on the line to therian mammals. Given that bone structure frequently reflects functional requirements, this study investigated evolutionary changes in synapsid humerus and femur proportions as a lens to evaluate functional shifts through time. A total of 936 bones were measured, representing 330 species across the full 320+ million years of synapsid history. This dataset was used to test whether transformations in stylopod proportions are consistent with inferred changes in bone loading mechanics, alignment of joint and muscle forces, muscular control of the shoulder and hip, and differential support of body weight by the fore‐ and hindlimbs. As variation in bone dimensions may also correlate with bone or body size, this study first developed a novel approach for calculating species‐specific, size‐corrected measures of bone proportions. By disentangling the effect of body size from functional signals recorded in bone geometry, this then enabled a node‐to‐node appraisal of how bone allometry itself evolved through time. Ancestral state reconstruction of size‐corrected stylopod proportions reveals trends that broadly support many hypothesized shifts in locomotor biomechanics along the therian stem lineage. However, patterns of transformation are frequently complex, suggesting functional mosaicism, and stylopod proportions that typify therians as a whole are often not achieved until crown Theria itself. Several instances of temporary trend reversal are also inferred, particularly within non‐mammalian cynodonts, indicating greater functional or ecological diversification in this group. 

The evolutionary transition from early synapsids to therian mammals involved profound reorganization in locomotor anatomy and function, centered around a shift from “sprawled” to “erect” limb postures. When and how this functional shift was accomplished has remained difficult to decipher from the fossil record alone. Through biomechanical modeling of hindlimb force-generating performance in eight exemplar fossil synapsids, we demonstrate that the erect locomotor regime typifying modern therians did not evolve until just before crown Theria. Modeling also identifies a transient phase of increased performance in therapsids and early cynodonts, before crown mammals. Further, quantifying the global actions of major hip muscle groups indicates a protracted juxtaposition of functional redeployment and conservatism, highlighting the intricate interplay between anatomical reorganization and function across postural transitions. We infer a complex history of synapsid locomotor evolution and suggest that major evolutionary transitions between contrasting locomotor behaviors may follow highly nonlinear trajectories. 

Previously, the authors published a framework for phylogenetically informed reconstruction of appendicular musculature in extinct synapsids. In the present study, this framework is employed to rigorously infer the arrangement of muscles in the hindlimb of eight exemplar taxa that capture the evolutionary transformation from basal synapsids to crown therians. Muscle maps detailing origins and insertions are presented for each taxon. These will aid the interpretation of fossil material in the future, especially fragmentary remains of related species, and provide a foundation for functional analysis of the appendicular skeleton and its evolution. 

For the first 100+ million years of their evolutionary history, the majority of mammals were very small, and many exhibited relatively generalized locomotor ecologies. Among extant mammals, small-bodied, generalist species share similar hindlimb bone morphology and locomotor mechanics, but details of their musculature have not been investigated. To examine whether hindlimb muscle architecture properties are also similar, we dissected hindlimb muscles of the gray short-tailed opossum (Monodelphis domestica) and aggregated muscle properties from the literature for three other small-bodied mammals (Mus musculus, Rattus norvegicus, Cavia porcellus). We then studied hindlimb musculature from a whole-limb perspective and by separating the limb into nine anatomical regions. The region analysis explained substantially more variance in the data (r2: 0.601 > 0.074) but only detected six statistically significant pairwise species differences in muscle architecture properties. This finding suggests either deep conservation of therian hindlimb muscle properties or, more likely, a biomechanical constraint imposed by small body size. In addition, we find specialization for either large force production (i.e., PCSA) or longer active working ranges (i.e. long muscle fascicles) in proximal limb regions but neither specialization in more distal limb regions. This functional pattern may be key for small mammals to traverse across uneven and shifting substrates, regardless of environment. These findings are particularly relevant for researchers seeking to reconstruct and model soft tissue properties of extinct mammals during the early evolutionary history of the clade. 

In evolutionary biomechanics, musculoskeletal computer models of extant and extinct taxa are often used to estimate joint range of motion (ROM) and muscle moment arms (MMAs), two parameters which form the basis of functional inferences. However, relatively few experimental studies have been performed to validate model outputs. Previously, we built a model of the short-beaked echidna ( Tachyglossus aculeatus ) forelimb using a traditional modelling workflow, and in this study we evaluate its behaviour and outputs using experimental data. The echidna is an unusual animal representing an edge-case for model validation: it uses a unique form of sprawling locomotion, and possesses a suite of derived anatomical features, in addition to other features reminiscent of extinct early relatives of mammals. Here we use diffusible iodine-based contrast-enhanced computed tomography (diceCT) alongside digital and traditional dissection to evaluate muscle attachments, modelled muscle paths, and the effects of model alterations on the MMA outputs. We use X-ray Reconstruction of Moving Morphology (XROMM) to compare ex vivo joint ROM to model estimates based on osteological limits predicted via single-axis rotation, and to calculate experimental MMAs from implanted muscles using a novel geometric method. We also add additional levels of model detail, in the form of muscle architecture, to evaluate how muscle torque might alter the inferences made from MMAs alone, as is typical in evolutionary studies. Our study identifies several key findings that can be applied to future models. 1) A light-touch approach to model building can generate reasonably accurate muscle paths, and small alterations in attachment site seem to have minimal effects on model output. 2) Simultaneous movement through multiple degrees of freedom, including rotations and translation at joints, are necessary to ensure full joint ROM is captured; however, single-axis ROM can provide a reasonable approximation of mobility depending on the modelling objectives. 3) Our geometric method of calculating MMAs is consistent with model-predicted MMAs calculated via partial velocity, and is a potentially useful tool for others to create and validate musculoskeletal models. 4) Inclusion of muscle architecture data can change some functional inferences, but in many cases reinforced conclusions based on MMA alone.